JP7231254B2 - ロボット顕微手術アセンブリ - Google Patents

ロボット顕微手術アセンブリ Download PDF

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Publication number
JP7231254B2
JP7231254B2 JP2020505548A JP2020505548A JP7231254B2 JP 7231254 B2 JP7231254 B2 JP 7231254B2 JP 2020505548 A JP2020505548 A JP 2020505548A JP 2020505548 A JP2020505548 A JP 2020505548A JP 7231254 B2 JP7231254 B2 JP 7231254B2
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Prior art keywords
tendon
link
joint
sliding
robotic surgical
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Japanese (ja)
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JP2020512927A (ja
Inventor
シミ，マッシミリアーノ
マリア プリスコ，ジュゼッペ
Original Assignee
メディカル マイクロインスツルメンツ，インク．
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/72—Micromanipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A61B2017/0084—Material properties low friction
    • A61B2017/00845—Material properties low friction of moving parts with respect to each other
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A61B2017/00853—Material properties low friction, hydrophobic and corrosion-resistant fluorocarbon resin coating (ptf, ptfe, polytetrafluoroethylene)
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
JP2020505548A 2017-04-14 2018-04-13 ロボット顕微手術アセンブリ Active JP7231254B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
IT102017000041991A IT201700041991A1 (it) 2017-04-14 2017-04-14 Assieme robotico per microchirurgia
IT102017000041991 2017-04-14
PCT/IB2018/052591 WO2018189722A1 (en) 2017-04-14 2018-04-13 Robotic microsurgical assembly

Publications (2)

Publication Number Publication Date
JP2020512927A JP2020512927A (ja) 2020-04-30
JP7231254B2 true JP7231254B2 (ja) 2023-03-01

Family

ID=59521595

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2020505548A Active JP7231254B2 (ja) 2017-04-14 2018-04-13 ロボット顕微手術アセンブリ

Country Status (10)

Country Link
US (2) US11317981B2 (ko)
EP (1) EP3609427A1 (ko)
JP (1) JP7231254B2 (ko)
KR (1) KR102545237B1 (ko)
CN (1) CN110678143B (ko)
AU (1) AU2018253443B2 (ko)
BR (1) BR112019021507A8 (ko)
CA (1) CA3059677A1 (ko)
IT (1) IT201700041991A1 (ko)
WO (1) WO2018189722A1 (ko)

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US20160287279A1 (en) 2015-04-01 2016-10-06 Auris Surgical Robotics, Inc. Microsurgical tool for robotic applications
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
EP3599979A4 (en) 2017-03-28 2021-01-06 Auris Health, Inc. SHAFT DRIVE HANDLE
WO2019236450A1 (en) 2018-06-07 2019-12-12 Auris Health, Inc. Robotic medical systems with high force instruments
EP3813682A4 (en) 2018-06-28 2022-03-30 Auris Health, Inc. MEDICAL SYSTEMS INCORPORATING PULLEY SHARING
EP3806772A4 (en) 2018-08-15 2022-03-30 Auris Health, Inc. MEDICAL INSTRUMENTS FOR TISSUE CAUTERIZATION
WO2020068303A1 (en) 2018-09-26 2020-04-02 Auris Health, Inc. Systems and instruments for suction and irrigation
US11576738B2 (en) 2018-10-08 2023-02-14 Auris Health, Inc. Systems and instruments for tissue sealing
US11950863B2 (en) 2018-12-20 2024-04-09 Auris Health, Inc Shielding for wristed instruments
CN113286558A (zh) * 2019-02-15 2021-08-20 柯惠Lp公司 包括高铰接腕部组合件的机器人手术器械
US11369386B2 (en) 2019-06-27 2022-06-28 Auris Health, Inc. Systems and methods for a medical clip applier
EP3989863A4 (en) 2019-06-28 2023-10-11 Auris Health, Inc. MEDICAL INSTRUMENTS WITH WRISTS WITH HYBRID DIVERSION SURFACES
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
US11737845B2 (en) 2019-09-30 2023-08-29 Auris Inc. Medical instrument with a capstan
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
EP4084717A4 (en) 2019-12-31 2024-02-14 Auris Health Inc DYNAMIC PULLEY SYSTEM
JP2023508718A (ja) 2019-12-31 2023-03-03 オーリス ヘルス インコーポレイテッド 高度バスケット駆動モード
IT202000002551A1 (it) 2020-02-10 2021-08-10 Medical Microinstruments Spa Dispositivo di protezione della punta per uno strumento chirurgico, assieme e metodo
IT202000002536A1 (it) 2020-02-10 2021-08-10 Medical Microinstruments Spa Adattatore sterile per un sistema di chirurgia robotica, assieme, sistema e metodo
CN115802975A (zh) 2020-06-29 2023-03-14 奥瑞斯健康公司 用于检测连杆与外部对象之间的接触的系统和方法
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
WO2022003493A1 (en) 2020-06-30 2022-01-06 Auris Health, Inc. Robotic medical system with collision proximity indicators
WO2022137052A1 (en) * 2020-12-22 2022-06-30 Medical Microinstruments S.p.A. Surgical tool for robotic surgery and robotic surgical assembly
DE102021101766B4 (de) * 2021-01-27 2023-01-12 Karl Storz Se & Co. Kg Medizinisches Instrument und Betätigungseinheit für ein medizinisches Instrument
IT202100016199A1 (it) 2021-06-21 2022-12-21 Medical Microinstruments Inc Strumento chirurgico di taglio per chirurgia robotica e metodo
IT202100016163A1 (it) 2021-06-21 2022-12-21 Medical Microinstruments Inc Metodo di fabbricazione per elettroerosione a filo di uno o più corpi affilati, semilavorato, attrezzaggio, nonché metodo di fabbricazione per elettroerosione a filo di uno strumento chirurgico di taglio per microchirurgia robotica
IT202100016175A1 (it) 2021-06-21 2022-12-21 Medical Microinstruments Inc Strumento chirurgico di taglio, giunto rotazionale e metodo, particolarmente per chirurgia e/o micro-chirurgia robotica
IT202100016154A1 (it) 2021-06-21 2022-12-21 Medical Microinstruments Inc Strumento chirurgico per chirurgia robotica
WO2024013668A1 (en) * 2022-07-14 2024-01-18 Medical Microinstruments, Inc. Articulated surgical instrument for robotic surgery or microsurgery, manufacturing method and assembly method

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Also Published As

Publication number Publication date
AU2018253443B2 (en) 2023-12-07
CN110678143A (zh) 2020-01-10
US20220226061A1 (en) 2022-07-21
US11317981B2 (en) 2022-05-03
BR112019021507A2 (pt) 2020-11-03
CA3059677A1 (en) 2018-10-18
WO2018189722A1 (en) 2018-10-18
JP2020512927A (ja) 2020-04-30
EP3609427A1 (en) 2020-02-19
AU2018253443A1 (en) 2019-11-28
KR20190139247A (ko) 2019-12-17
US20210121259A1 (en) 2021-04-29
IT201700041991A1 (it) 2018-10-14
CN110678143B (zh) 2023-10-13
KR102545237B1 (ko) 2023-06-20
BR112019021507A8 (pt) 2023-05-09

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